Header header

# the trajectory id, starts from "1".
uint32 trajectory_id

# the action command for trajectory server.
uint32 ACTION_ADD                  =   1
uint32 ACTION_ABORT                =   2
uint32 ACTION_WARN_START           =   3
uint32 ACTION_WARN_FINAL           =   4
uint32 ACTION_WARN_IMPOSSIBLE      =   5
uint32 action

# the order of trajectory.
uint32 num_order
uint32 num_segment

# the polynomial coecfficients of the trajectory.
float64 start_yaw
float64 final_yaw
float64[12] init_state
float64[12] final_state
float64[] waypoints_x
float64[] waypoints_y
float64[] waypoints_z
float64[] time
float64   mag_coeff
uint32[]  order
time start_time
float64 local_start_t
#the occ state of trajectory.
uint32 occ_state
string debug_info
